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   &#160;<span id="projectnumber">2.9.1</span>
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<a href="#pub-types">Public Types</a> &#124;
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<a href="classArActionDeceleratingLimiter-members.html">List of all members</a>  </div>
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<p>Action to limit the forwards motion of the robot based on range sensor readings.  
 <a href="classArActionDeceleratingLimiter.html#details">More...</a></p>

<p><code>#include &lt;ArActionDeceleratingLimiter.h&gt;</code></p>

<p>Inherits <a class="el" href="classArAction.html">ArAction</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a9f56735c03f29b8944f971685679b585"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585">LimiterType</a> { <a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585afa1c53c01bede226ecdd47286485204c">FORWARDS</a>, 
<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585a079120e097fa9c79ad0de688a36bd544">BACKWARDS</a>, 
<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585ab1c9f0a1dbf7f181b5c520a24faafff1">LATERAL_LEFT</a>, 
<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585a35c67c52ca401fdb991cd58e54c0eaa0">LATERAL_RIGHT</a>
 }</td></tr>
<tr class="separator:a9f56735c03f29b8944f971685679b585"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a6ba2d5dd80d9bb2f39ea2820399bbec4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6ba2d5dd80d9bb2f39ea2820399bbec4"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#a6ba2d5dd80d9bb2f39ea2820399bbec4">addToConfig</a> (<a class="el" href="classArConfig.html">ArConfig</a> *config, const char *section, const char *prefix=NULL)</td></tr>
<tr class="memdesc:a6ba2d5dd80d9bb2f39ea2820399bbec4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds to the <a class="el" href="classArConfig.html" title="Stores configuration information which may be read to and from files or other sources. ">ArConfig</a> given, in section, with prefix. <br /></td></tr>
<tr class="separator:a6ba2d5dd80d9bb2f39ea2820399bbec4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a58ac6476c6348f0d94488f1d81e77b17"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#a58ac6476c6348f0d94488f1d81e77b17">ArActionDeceleratingLimiter</a> (const char *name=&quot;limitAndDecel&quot;, LimiterType type=<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585afa1c53c01bede226ecdd47286485204c">FORWARDS</a>)</td></tr>
<tr class="memdesc:a58ac6476c6348f0d94488f1d81e77b17"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a58ac6476c6348f0d94488f1d81e77b17">More...</a><br /></td></tr>
<tr class="separator:a58ac6476c6348f0d94488f1d81e77b17"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9319e35a172dd3019046a759ba7c497"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab9319e35a172dd3019046a759ba7c497"></a>
virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>fire</b> (<a class="el" href="classArActionDesired.html">ArActionDesired</a> currentDesired)</td></tr>
<tr class="separator:ab9319e35a172dd3019046a759ba7c497"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd090e6b20a3d55ee26afd4ae2eb17d5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abd090e6b20a3d55ee26afd4ae2eb17d5"></a>
virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDesired</b> (void)</td></tr>
<tr class="separator:abd090e6b20a3d55ee26afd4ae2eb17d5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12466f77cca77af9d314b9f2cfe53f65"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a12466f77cca77af9d314b9f2cfe53f65"></a>
virtual const <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDesired</b> (void) const </td></tr>
<tr class="separator:a12466f77cca77af9d314b9f2cfe53f65"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a232b186cd821f89e6087bd0a244e3727"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a232b186cd821f89e6087bd0a244e3727"></a>
<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585">LimiterType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#a232b186cd821f89e6087bd0a244e3727">getType</a> (void)</td></tr>
<tr class="memdesc:a232b186cd821f89e6087bd0a244e3727"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets if this will control us when going forwards. <br /></td></tr>
<tr class="separator:a232b186cd821f89e6087bd0a244e3727"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0e8a10b3f73faf6cfbb5ea9f4d772fd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af0e8a10b3f73faf6cfbb5ea9f4d772fd"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#af0e8a10b3f73faf6cfbb5ea9f4d772fd">getUseLocationDependentDevices</a> (void)</td></tr>
<tr class="memdesc:af0e8a10b3f73faf6cfbb5ea9f4d772fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets if we're using locationDependent range devices or not. <br /></td></tr>
<tr class="separator:af0e8a10b3f73faf6cfbb5ea9f4d772fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af54fb416493f4eba5d55cb2bbb7d951a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#af54fb416493f4eba5d55cb2bbb7d951a">setParameters</a> (double clearance=100, double sideClearanceAtSlowSpeed=50, double paddingAtSlowSpeed=50, double slowSpeed=200, double sideClearanceAtFastSpeed=400, double paddingAtFastSpeed=300, double fastSpeed=1000, double preferredDecel=600, bool useEStop=false, double maxEmergencyDecel=0)</td></tr>
<tr class="memdesc:af54fb416493f4eba5d55cb2bbb7d951a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the parameters (don't use this if you're using the addToConfig)  <a href="#af54fb416493f4eba5d55cb2bbb7d951a">More...</a><br /></td></tr>
<tr class="separator:af54fb416493f4eba5d55cb2bbb7d951a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a037a880bb50383b84c6eaf72d5fde87d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a037a880bb50383b84c6eaf72d5fde87d"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setStopRotationToo</b> (bool stopRotationToo)</td></tr>
<tr class="separator:a037a880bb50383b84c6eaf72d5fde87d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6d6f7167c0b915a9c37f4bcdda560bcc"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6d6f7167c0b915a9c37f4bcdda560bcc"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#a6d6f7167c0b915a9c37f4bcdda560bcc">setType</a> (<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585">LimiterType</a> type)</td></tr>
<tr class="memdesc:a6d6f7167c0b915a9c37f4bcdda560bcc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets if this will control us when going forwards. <br /></td></tr>
<tr class="separator:a6d6f7167c0b915a9c37f4bcdda560bcc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adec65a9108516ec2c762acae78687924"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adec65a9108516ec2c762acae78687924"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#adec65a9108516ec2c762acae78687924">setUseLocationDependentDevices</a> (bool useLocationDependentDevices)</td></tr>
<tr class="memdesc:adec65a9108516ec2c762acae78687924"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets if we're using locationDependent range devices or not. <br /></td></tr>
<tr class="separator:adec65a9108516ec2c762acae78687924"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f327e08a9c4075e932e7c85735298e9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3f327e08a9c4075e932e7c85735298e9"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionDeceleratingLimiter.html#a3f327e08a9c4075e932e7c85735298e9">~ArActionDeceleratingLimiter</a> ()</td></tr>
<tr class="memdesc:a3f327e08a9c4075e932e7c85735298e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
<tr class="separator:a3f327e08a9c4075e932e7c85735298e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a758f6d649620747c5fa743d4f7a8b53e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a758f6d649620747c5fa743d4f7a8b53e">activate</a> (void)</td></tr>
<tr class="memdesc:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Activate the action. <br /></td></tr>
<tr class="separator:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4341cda2464899c839e370b514af929b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a4341cda2464899c839e370b514af929b">ArAction</a> (const char *name, const char *description=&quot;&quot;)</td></tr>
<tr class="memdesc:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeca3135308234a8224643541090bea2b"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#aeca3135308234a8224643541090bea2b">deactivate</a> (void)</td></tr>
<tr class="memdesc:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate the action. <br /></td></tr>
<tr class="separator:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#adf64e5031c86d059500b93f402aa70d9">getArg</a> (int number) const </td></tr>
<tr class="memdesc:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument.  <a href="#adf64e5031c86d059500b93f402aa70d9">More...</a><br /></td></tr>
<tr class="separator:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6620d41b1e490476796696e8a70e7544"></a>
virtual <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a6620d41b1e490476796696e8a70e7544">getArg</a> (int number)</td></tr>
<tr class="memdesc:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument. <br /></td></tr>
<tr class="separator:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a19edfe254b794aa2dddb163d095905"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5a19edfe254b794aa2dddb163d095905">getDescription</a> (void) const </td></tr>
<tr class="memdesc:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the long description of the action. <br /></td></tr>
<tr class="separator:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a77fd754d342d7662090f462e27971e08"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a77fd754d342d7662090f462e27971e08">getName</a> (void) const </td></tr>
<tr class="memdesc:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the name of the action. <br /></td></tr>
<tr class="separator:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a512f3a727095b1240f30558d32fe0f5b"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a512f3a727095b1240f30558d32fe0f5b">getNumArgs</a> (void) const </td></tr>
<tr class="memdesc:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the number of arguments this action takes. <br /></td></tr>
<tr class="separator:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae62a517795a31625bf3a2bb2ea8abac0"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ae62a517795a31625bf3a2bb2ea8abac0">getRobot</a> () const </td></tr>
<tr class="memdesc:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the robot we are controlling, which was set by <a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23" title="Sets the robot this action is driving. ">setRobot()</a> <br /></td></tr>
<tr class="separator:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72db278f558206fdec03cbc15ac72104"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a72db278f558206fdec03cbc15ac72104">isActive</a> (void) const </td></tr>
<tr class="memdesc:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether the action is active or not. <br /></td></tr>
<tr class="separator:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5e1aaaf9de9b50f7732043a3772f53d7"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5e1aaaf9de9b50f7732043a3772f53d7">log</a> (bool verbose=true) const </td></tr>
<tr class="memdesc:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Log information about this action using <a class="el" href="classArLog.html" title="Logging utility class. ">ArLog</a>. <br /></td></tr>
<tr class="separator:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23">setRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="memdesc:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the robot this action is driving.  <a href="#a51b27da0403d43cd916cbf49ba7ddc23">More...</a><br /></td></tr>
<tr class="separator:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05bc460d965589515a007f136a03d15a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a05bc460d965589515a007f136a03d15a">~ArAction</a> ()</td></tr>
<tr class="memdesc:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desructor. <br /></td></tr>
<tr class="separator:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:aba2a914c32663893fce1976b50c8dc44"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aba2a914c32663893fce1976b50c8dc44"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myClearance</b></td></tr>
<tr class="separator:aba2a914c32663893fce1976b50c8dc44"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab0f0e4ef5f3bb19d947aaab9200c540f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab0f0e4ef5f3bb19d947aaab9200c540f"></a>
<a class="el" href="classArActionDesired.html">ArActionDesired</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDesired</b></td></tr>
<tr class="separator:ab0f0e4ef5f3bb19d947aaab9200c540f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a35bb488d0d4e9c9accf511a8eafd7f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a35bb488d0d4e9c9accf511a8eafd7f"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myFastSpeed</b></td></tr>
<tr class="separator:a3a35bb488d0d4e9c9accf511a8eafd7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c76072b531192afbfc49aab742eefd1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c76072b531192afbfc49aab742eefd1"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myLastStopped</b></td></tr>
<tr class="separator:a1c76072b531192afbfc49aab742eefd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9219954762133ae141431afc98fa6b34"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9219954762133ae141431afc98fa6b34"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxEmergencyDecel</b></td></tr>
<tr class="separator:a9219954762133ae141431afc98fa6b34"><td class="memSeparator" colspan="2">&#160;</td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myPaddingAtFastSpeed</b></td></tr>
<tr class="separator:a4f943bad0a72e7a67da265979c3489ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a863ef7bbc5b7e67c0f22fd1e4b77a700"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a863ef7bbc5b7e67c0f22fd1e4b77a700"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myPaddingAtSlowSpeed</b></td></tr>
<tr class="separator:a863ef7bbc5b7e67c0f22fd1e4b77a700"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05e4674fb0814b0e16101cf6cbee8586"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05e4674fb0814b0e16101cf6cbee8586"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myPreferredDecel</b></td></tr>
<tr class="separator:a05e4674fb0814b0e16101cf6cbee8586"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7a5fb115a88b06c4345548a5b144cda"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac7a5fb115a88b06c4345548a5b144cda"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>mySideClearanceAtFastSpeed</b></td></tr>
<tr class="separator:ac7a5fb115a88b06c4345548a5b144cda"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1afb6d48830183c661aa11ecc9f7edb"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac1afb6d48830183c661aa11ecc9f7edb"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>mySideClearanceAtSlowSpeed</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>mySlowSpeed</b></td></tr>
<tr class="separator:aaffab63735d3b36ef89cb0a832759492"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab76161826352ed2020eb0dd0cf58598c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab76161826352ed2020eb0dd0cf58598c"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myStopRotationToo</b></td></tr>
<tr class="separator:ab76161826352ed2020eb0dd0cf58598c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab508781146e12e4915eb9a2a9ef3c253"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab508781146e12e4915eb9a2a9ef3c253"></a>
<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585">LimiterType</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myType</b></td></tr>
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<tr class="memitem:a847f5cb24fada45afedbb46d231d5432"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a847f5cb24fada45afedbb46d231d5432"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myUseEStop</b></td></tr>
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<tr class="memitem:a36894470a29982a9510e19058a0973d2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a36894470a29982a9510e19058a0973d2"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myUseLocationDependentDevices</b></td></tr>
<tr class="separator:a36894470a29982a9510e19058a0973d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a70d443457e6f0b80b434530c7d987b3f inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a70d443457e6f0b80b434530c7d987b3f"></a>
std::map&lt; int, <a class="el" href="classArArg.html">ArArg</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myArgumentMap</b></td></tr>
<tr class="separator:a70d443457e6f0b80b434530c7d987b3f inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ca1ce8c5a89ee6f0c4ee79d2f534984 inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3ca1ce8c5a89ee6f0c4ee79d2f534984"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myDescription</b></td></tr>
<tr class="separator:a3ca1ce8c5a89ee6f0c4ee79d2f534984 inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af20f687ef5e108741edc2a5848700271 inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af20f687ef5e108741edc2a5848700271"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myIsActive</b></td></tr>
<tr class="separator:af20f687ef5e108741edc2a5848700271 inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad0ebdaed2cabe36c51e9b995406fdb1d inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad0ebdaed2cabe36c51e9b995406fdb1d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myName</b></td></tr>
<tr class="separator:ad0ebdaed2cabe36c51e9b995406fdb1d inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a20f29d8774f45e3508211c39e2afb9ce inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a20f29d8774f45e3508211c39e2afb9ce"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myNumArgs</b></td></tr>
<tr class="separator:a20f29d8774f45e3508211c39e2afb9ce inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a265851e04729e51a2a72d1ab4f1c5ed8"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a265851e04729e51a2a72d1ab4f1c5ed8">myRobot</a></td></tr>
<tr class="memdesc:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">The robot we are controlling, set by the action resolver using <a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23" title="Sets the robot this action is driving. ">setRobot()</a> <br /></td></tr>
<tr class="separator:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_static_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aceff6f8ad785ab52a79c6d847ed0ea61"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#aceff6f8ad785ab52a79c6d847ed0ea61">getDefaultActivationState</a> (void)</td></tr>
<tr class="memdesc:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the default activation state for all ArActions. <br /></td></tr>
<tr class="separator:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3543892f92fbbfa9bb3f9e0b0d199f51"></a>
static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a3543892f92fbbfa9bb3f9e0b0d199f51">setDefaultActivationState</a> (bool defaultActivationState)</td></tr>
<tr class="memdesc:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the default activation state for all ArActions. <br /></td></tr>
<tr class="separator:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6e1c757a5232752a9b05b18e8ef5091"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ad6e1c757a5232752a9b05b18e8ef5091">setNextArgument</a> (<a class="el" href="classArArg.html">ArArg</a> const &amp;arg)</td></tr>
<tr class="memdesc:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the argument type for the next argument (must only be used in a constructor!) <br /></td></tr>
<tr class="separator:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_static_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a5335a29c1c08e3fa97228635b38986fe inherit pro_static_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5335a29c1c08e3fa97228635b38986fe"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><b>ourDefaultActivationState</b> = true</td></tr>
<tr class="separator:a5335a29c1c08e3fa97228635b38986fe inherit pro_static_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Action to limit the forwards motion of the robot based on range sensor readings. </p>
<p>This action uses the robot's range sensors (e.g. sonar, laser) to find a maximum speed at which to travel and will increase the deceleration so that the robot doesn't hit anything. If it has to, it will trigger an estop to avoid a collision.</p>
<p>Note that this cranks up the deceleration with a strong strength, but it checks to see if there is already something decelerating more strongly... so you can put these actions lower in the priority list so things will play together nicely. </p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a class="anchor" id="a9f56735c03f29b8944f971685679b585"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">enum <a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585">ArActionDeceleratingLimiter::LimiterType</a></td>
        </tr>
      </table>
</div><div class="memdoc">
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a9f56735c03f29b8944f971685679b585afa1c53c01bede226ecdd47286485204c"></a>FORWARDS&#160;</td><td class="fielddoc">
<p>Limit forwards. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9f56735c03f29b8944f971685679b585a079120e097fa9c79ad0de688a36bd544"></a>BACKWARDS&#160;</td><td class="fielddoc">
<p>Limit backwards. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9f56735c03f29b8944f971685679b585ab1c9f0a1dbf7f181b5c520a24faafff1"></a>LATERAL_LEFT&#160;</td><td class="fielddoc">
<p>Limit lateral left. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="a9f56735c03f29b8944f971685679b585a35c67c52ca401fdb991cd58e54c0eaa0"></a>LATERAL_RIGHT&#160;</td><td class="fielddoc">
<p>Limit lateral right. </p>
</td></tr>
</table>

</div>
</div>
<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a58ac6476c6348f0d94488f1d81e77b17"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">ArActionDeceleratingLimiter::ArActionDeceleratingLimiter </td>
          <td>(</td>
          <td class="paramtype">const char *&#160;</td>
          <td class="paramname"><em>name</em> = <code>&quot;limitAndDecel&quot;</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585">LimiterType</a>&#160;</td>
          <td class="paramname"><em>type</em> = <code><a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585afa1c53c01bede226ecdd47286485204c">FORWARDS</a></code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">name</td><td>name of the action </td></tr>
    <tr><td class="paramname">type</td><td>whether we're an action for going forwards (<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585afa1c53c01bede226ecdd47286485204c" title="Limit forwards. ">ArActionDeceleratingLimiter::FORWARDS</a>) backwards (<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585a079120e097fa9c79ad0de688a36bd544" title="Limit backwards. ">ArActionDeceleratingLimiter::BACKWARDS</a>), or laterally to the left (<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585ab1c9f0a1dbf7f181b5c520a24faafff1" title="Limit lateral left. ">ArActionDeceleratingLimiter::LATERAL_LEFT</a>) or laterally to the right (<a class="el" href="classArActionDeceleratingLimiter.html#a9f56735c03f29b8944f971685679b585a35c67c52ca401fdb991cd58e54c0eaa0" title="Limit lateral right. ">ArActionDeceleratingLimiter::LATERAL_RIGHT</a>). This causes <a class="el" href="classArActionDeceleratingLimiter.html" title="Action to limit the forwards motion of the robot based on range sensor readings. ">ArActionDeceleratingLimiter</a> to choose the right values and choose X or Y translation decelerations and speeds. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="af54fb416493f4eba5d55cb2bbb7d951a"></a>
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          <td class="memname">void ArActionDeceleratingLimiter::setParameters </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>clearance</em> = <code>100</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>sideClearanceAtSlowSpeed</em> = <code>50</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>paddingAtSlowSpeed</em> = <code>50</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>slowSpeed</em> = <code>200</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>sideClearanceAtFastSpeed</em> = <code>400</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>paddingAtFastSpeed</em> = <code>300</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>fastSpeed</em> = <code>1000</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>preferredDecel</em> = <code>600</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>useEStop</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>maxEmergencyDecel</em> = <code>0</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Sets the parameters (don't use this if you're using the addToConfig) </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">clearance</td><td>distance at which to estop (mm) </td></tr>
    <tr><td class="paramname">sideClearanceAtSlowSpeed</td><td>distance on the side to stop for if going at slow speed or slower (mm) </td></tr>
    <tr><td class="paramname">paddingAtSlowSpeed</td><td>distance in addition to clerance at which to stop at slow speed (mm) </td></tr>
    <tr><td class="paramname">slowSpeed</td><td>speed which we consider to be "slow" (mm/sec) </td></tr>
    <tr><td class="paramname">sideClearanceAtFastSpeed</td><td>distance on the side to stop for if going at fast speed or faster (mm) </td></tr>
    <tr><td class="paramname">paddingAtFastSpeed</td><td>distance in addition to clerance at which to stop at fast speed (mm) </td></tr>
    <tr><td class="paramname">fastSpeed</td><td>speed which we consider to be "fast" (mm/sec) </td></tr>
    <tr><td class="paramname">preferredDecel</td><td>the maximum deceleration to slow for obstacles (unless it will be insufficient to keep the clearances free, then decelerate faster) </td></tr>
    <tr><td class="paramname">useEStop</td><td>if something is detected within the clearance, cause an immediate emergecy stop </td></tr>
    <tr><td class="paramname">maxEmergencyDecel</td><td>ultimate limit on deceleration to apply when slowing for an obstacle detected within clearance (mm/sec/sec); if 0, use the robot's maximum decel parameter. </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArActionDeceleratingLimiter.h</li>
<li>ArActionDeceleratingLimiter.cpp</li>
</ul>
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